Navigation stack vs. sensor with dead zone

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Hi all,

I'm trying to use navigation stack with a laser scanner which gives points from at least one meter distance. Move_base works fine but, when the robot (Pioneer) is close to an obstacle, the obstacle disappear from laser data, obstacle is cleared from costmap and robot hits it. Is there any possible solution? I'm using ROS Groovy and hydro-devel branch of navigation stack.

UPDATE:

Right now, I'm working only with simulation. Value range_min seems to be filled correctly.

angle_min: -3.1400001049 angle_max: 3.1400001049 angle_increment: 0.0015335775679 time_increment: 0.0 scan_time: 0.0 range_min: 1.0 range_max: 10.0

These are my settings (not yet transformed to the new format)...

Global costmap:

global_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.025
  origin_x: 0.0
  origin_y: 0.0

Local costmap:

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.025
  origin_x: 0.0
  origin_y: 0.0

Common params:

map_type: costmap

transform_tolerance: 0.4
obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 1.0
footprint: [[0.3,0.3],[-0.3,0.3],[-0.3,-0.3],[0.3,-0.3]]


observation_sources: velodyne_scan

velodyne_scan: {sensor_frame: velodyne_link, topic: /velodyne/scan, data_type: LaserScan, marking: true, clearing: true}

UPDATE:

It seems that nav. stack ignores range_min in LaserScan msg (https://github.com/ros-planning/navigation/blob/hydro-devel/costmap_2d/plugins/obstacle_layer.cpp#L196).